Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 20 of 35 for “"Onboard Sensors"”.
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Development and evaluation of a dynamically scaled testbed aircraft for a visual inertial odometry dataset
… is also used to collect data from various onboard sensors to provide a data set for the VIO research community to use.
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Panoramic Video for Efficient Ground Surveillance from Small Unmanned Air Vehicles
… in Wilderness Search and Rescue (WiSAR) efforts, onboard sensors yielding more information will be desired. UAVs can assist WiSAR efforts by accelerating the ground search process through returning quality aerial footage of the terrain. Additionally, tracking the progress of a search by populating …
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convex segmentation and mixed-integer footstep planning for a walking robot
… plans on height map data constructed from onboard sensors. We demonstrate the footstep planner in simulated environments and with real data sensed by the Atlas humanoid, and we discuss future applications to running robots, aerial vehicles, and robots with more than two legs.
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Efficient learning and planning using spatial side information
… from existing data, including that collected by onboard sensors. Algorithms that exploit side information are of interest in solving many real-world problems that can be modeled as stochastic control processes with unknown transition probabilities or unknown transition times. Specifically, we …
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MapLite : autonomous navigation in rural environments without detailed prior maps
… topometric map (from OpenStreetMap). The onboard sensors are used to segment the road region and register the topometric map in order to fuse the high-level navigation goals with a variational path planner in the vehicle frame. This enables the system to plan trajectories that correctly …
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Toward autonomous harbor surveillance
… the area to be inspected. Our approach uses only onboard sensors in a simultaneous localization and mapping setting and removes the need for any external infrastructure like acoustic beacons. We extract dense features from a forward-looking imaging sonar and apply pair-wise registration between …
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Enhancing Perception Systems using V2V Sensor Fusion
… and LiDAR. The detections from these three sensors are fused into a track list that can be used to plan and control the vehicles movements. This thesis proposes a system to introduce data from Vehicle-to-Vehicle messages into this fused track list. This extra information can be beneficial in …
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Cyber-security Aware Traffic Flow Modeling and Data Processing Power Optimization
… and cybersecurity. While CAVs leverage onboard sensors and computing to navigate their environment, the integration of vehicle to vehicle (V2V) and vehicle-to-infrastructure (V2I) communications has elevated expectations for cooperation, safety, and efficiency. This connectivity, …
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A new guidance trajectory generation algorithm for unmanned systems incorporating vehicle dynamics and constraints
… of the operating environment in real time using onboard sensors and compute level sets on the map reflecting the minimal cost of traversal from the current vehicle location to the goal. We convert the trajectory generation problem into a finite-time-horizon optimal control problem using the …
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Autonomous mobility scooters as assistive tools for the elderly
… commands from a computer and outfitted with onboard sensors that included a Global Positioning System (GPS) receiver and two 2D planar laser range sensors. Perception methods were developed to detect the presence of an outdoor pedestrian walkway. These methods achieved this by processing the …
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A hybrid approach for intersection management in V2X-enabled connected vehicles
… Vehicle-to-Everything (V2X) communication with onboard sensors to improve AV perception and decision-making capabilities. In particular, this thesis proposes a hybrid centralized-decentralized management system, which maximizes the benefits of centralized control for strategic traffic management …
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Planning in information space for a quadrotor helicopter in a GPS-denied environment
… is unavailable, and the vehicle has to rely on onboard sensors to detect environmental features and infer its position. Given that a vehicle small enough to fly indoors can only carry a limited sensor payload, the vehicle's ability to localize itself varies across different environments, since …
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Integrating Collision Avoidance, Lane Keeping, and Cruise Control With an Optimal Controller and Fuzzy Controller
… This car is completely autonomous. The car has onboard sensors that allow it to follow a white piece of tape as well as detect obstacles.
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Development of a Multicriteria Spatial Decision Support System with Application to the Economic Optimization of Aircraft Based Weather Data Collection
… system, meteorological data collected by the onboard sensors of selected aircraft are transmitted to the ground as aircraft fly their missions. The data is processed by a national center, which disseminates the data to diverse users such as weather forecasters and aviation control centers. …
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Mobility feasibility of fuel cell powered hopping robots for space exploration
… for manned exploration. The robots would use onboard sensors to explore and search for signs of water, biological material, and other items of interest to scientists. This thesis studies the power and mobility feasibility of the Microbot hopping robot concept. One of the most important …
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Trajectory optimization for target localization using small unmanned aerial vehicles
… location estimates for targets detected by onboard sensors. Combining UAV state estimates with information gathered by the imaging sensors leads to bearing measurements of the target that can be used to determine the target's location. This 3-D bearings-only estimation problem is nonlinear …
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Learning semantic maps from natural language
… representations rely solely on traditional sensors to acquire knowledge of the environment, which restricts robots to learning limited knowledge of their local surround. Furthermore, they can only reason over the limited portion of the environment that is in the robot's field-of-view. …
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Software and Hardware Infrastructure for Visual-Inertial SLAM
… to navigate, sense the environments, and use onboard computers to run the software it was designed for. A sensor interface allows adapting and testing algorithms on novel sensors. In this research, we develop an essential hardware and software infrastructure for aiding the development and …
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Terrain sensing and estimation for dynamic outdoor mobile robots
… type. Both sets of algorithms utilize common onboard sensors. Two methods are presented for robot immobilization detection. The first method utilizes a dynamic vehicle model to estimate robot velocity and explicitly estimate longitudinal wheel slip. The vehicle model utilizes a novel …
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Vision-Assisted Control of a Hovering Air Vehicle in an Indoor Setting
… exhibited in GPS-denied indoor flight using only onboard sensors. Attitude angles can be reliably estimated in the short run by integrating the angular rates from MEMS gyros, but noise on the signal leads to drift which renders the measurement unsuitable to attitude estimation. Typical methods of …
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